Fusion of UWB-Based Distance Sensors with a Visual Relative Localization System

Author

Vit Petrik

Published

May 1, 2023

Introduction

Ultra-violet Detection and Ranging

Ultra-wide band

Kalman filters

Linear Kalman filter

Unscented Kalman filter

Implementation on MAV

Simulations and real-world experiments

A series of experiments have been conducted to evaluate the performance of the proposed measurement system. Experiments took place at Temešvár and Císařský ostrov. A couple of Holybro X500 1 equipped with Qorvo DWM1000 has been chosen as a test platform. These drones were mainly chosen due to the RTK GNSS system onboard, which is crucial for evaluating accuracy and is used as source of ground truth.

Figure 1: Holybro X500 1.

Line test

This experiment aims to test maximum range and get transfer characteristic of the sensor. The first UAV purpose was to act as an observer and for the entire duration of the test stayed and position \(\left(0, 0, 0\right)\). Second UAV was flying in a trajectory predefined by parametric equation 1.

\[ \mathbf{position}(t) = \begin{pmatrix} 0 \\ 65 + 55 \sin (2 \pi t) \\ 5 \end{pmatrix}, \quad t \in \left(0, 1\right) \tag{1}\]

Figure 2: Transfer characteristic of UWB

Figure 3: Transfer characteristic of UWB

As the results show, the measurements are accurate and reliable. Due to the effects of lag, the measurements have a marginal phase shift compared to the RTK results. The lag is caused by the nature of double-sided two-way ranging as well as the need to transport the data from DWM1000 and process them on the Intel NUC that runs ROS.

Conclusion

Bibliography